From 1fb33a1d2ed59ab2085f3f3aa82e76c069674616 Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Fri, 1 Sep 2006 14:46:44 +1000
Subject: [PATCH] Added "setpos" method to motors

r1099 | ffr | 2006-09-01 14:46:44 +1000 (Fri, 01 Sep 2006) | 2 lines
---
 site_ansto/motor_dmc2280.c | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index 5fe58957..4238729d 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -24,6 +24,7 @@
 #include <sics.h>
 #include <rs232controller.h>
 #include <modriv.h>
+#include <motor.h>
 #include <dynstring.h>
 #include "anstoutil.h"
 
@@ -80,6 +81,7 @@ typedef struct __MoDriv {
 
   /* DMC-2280 specific fields */
   prs232 controller;
+  pMotor pMot; /**< Points to logical motor object */
   int errorCode;
   char *errorMsg; /**< Points to memory for error messages */ 
   char units[256]; /**<  physical units for axis */
@@ -129,6 +131,7 @@ typedef struct __MoDriv {
 #define BUFFLEN 512
 #define _SAVEPOWER 0
 
+#define SETPOS "setpos"
 #define HOME "home"
 #define HARDLOWERLIM "hardlowerlim"
 #define HARDUPPERLIM "hardupperlim"
@@ -785,6 +788,7 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
   pDMC2280Driv self = NULL;
   char pError[ERRLEN];
   char cmd[CMDLEN];
+  float currPos, oldZero, newZero;
 
   self = (pDMC2280Driv)pData;
 
@@ -809,6 +813,15 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
     }
   }
 
+  if(strcmp(name,SETPOS) == 0) {
+    if (self->pMot == NULL)
+      self->pMot = FindMotor(pServ->pSics, self->name);
+    MotorGetPar(self->pMot,"softzero",&oldZero);
+    newZero = (self->pMot->fPosition - newValue) + oldZero;
+    MotorSetPar(self->pMot,pCon,"softzero",newZero);
+    return 1;
+  }
+
   /* Set hard limits, managers only */
   if(strcmp(name,HARDLOWERLIM) == 0) {
     if(!SCMatchRights(pCon,usMugger))
@@ -1044,6 +1057,7 @@ static void KillDMC2280(/*@only@*/void *pData){
     KillDMC2280(pNew);
     return NULL;
   }
+  pNew->pMot = NULL;
   strcpy(pNew->name, motor);
   pNew->home = 0.0;
   pNew->fLower = 0.0;//(float)atof(argv[2]);